The scheme, for a mix of detached, semi-detached and terraced homes, was refused outline planning permission by Redcar and Cleveland Council last January amid widespread local opposition.

And at the inquiry in October, dozens of residents turned up to object, claiming the development would, if granted permission, lead to the loss of countryside in favour of “urban sprawl.”

Middlesbrough South and East Cleveland MP Tom Blenkinsop was also among the people objecting to the scheme.

A protest outside Redcar leisure and community heart, about a planning application for housing between Saltburn and Marske

But in a blow to the protesters, Taylor Wimpey’s appeal has been allowed and outline permission granted, with planning inspector Peter Rose concluding: “I find that the adverse impacts of the scheme would not significantly and demonstrably outweigh the benefits.”

At last October’s inquiry, Richard Sagar, a solicitor acting for Taylor Wimpey, said the scheme’s benefits would include providing homes in a sustainable location, new affordable housing, investment and the creation of recreation routes.

But several people put the protesters’ case, with Saltburn councillor Philip Thomson saying the site in question was “a key strategic area between two clearly defined settlements” and the scheme was opposed by the local community.

Alison Ogley, solicitor for the borough council and several interested third parties, said: “It’s the wrong site in the wrong location at the wrong time.”

But explaining his decision to allow the appeal, Mr Rose said that at the heart of National Planning Policy Framework is a “presumption in favour of sustainable development” - and he finds that the proposed scheme “would accord with that expectation.”

Proposed housing development on land south of Marske Road, Saltburn

Mr Rose accepts the scheme “would inevitably reduce the extent of land within the gap” between Marske and Saltburn, but adds: “A broad area of countryside would remain and would be enhanced, existing joint visibility of the settlements within significant single views is already limited, and the existing sense of separation would not be significantly compromised.”

He says the scheme would incur “very limited harm” to the countryside, but adds: “Weighed against that harm, I am satisfied the scheme would constitute sustainable development with significant economic and social benefits.

“Of particular weight would be up to 130 new homes in a borough which is unable to demonstrate a five-year housing land supply.”

He added: “I consider the scheme would give rise to environmental benefits through an attractive landscaped gateway to Saltburn as part of a visually enhanced western boundary.”

An application by Taylor Wimpey for partial award of costs was rejected by Mr Rose.

Tom Blenkinsop said the firm would never have been allowed to appeal the council’s decision if the authority had a Local Plan in place, but that was blocked by opposition councillors.

He said: “It allowed Taylor Wimpey to appeal without a local plan by which it could be assessed.

“Political posturing by the opposition facilitated this scenario and played into the developer’s hands.”